Magnetic resonance interventional puncture device and magnetic resonance system

Abstract

The utility model provides a magnetic resonance interventional puncture device and magnetic resonance system.The magnetic resonance interventional puncture device comprises a bed body, a moving module and a puncture mechanism, the puncture mechanism is connected to the moving module, the moving module is used for adjusting the position of the puncture mechanism, and the puncture mechanism comprises a frame structure, a posture adjusting mechanism and a puncture tail end; the frame structure is connected to the moving module, and the posture adjusting mechanism is slidably connected to the frame structure and used for adjusting the posture of the puncture tail end. When different parts need to be punctured, the moving module is installed at the corresponding position of the bed body. Therefore, the puncture mechanism is simultaneously suitable for head puncture, thoracic and abdominal puncture and the like, so that the design cost and the instrument cost can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and more specifically, relates to a magnetic resonance intervention puncture device and a magnetic resonance system. Background Art

[0002] The interior of the magnetic resonance device has an arc-shaped cavity (which can be called an aperture). After the patient lies on the operating table, he or she can be pushed into the interior of the aperture. After the magnetic resonance device scans the human body, the scanned image can be converted into a scanned image and displayed on the display device. Therefore, the magnetic resonance device can be used in conjunction with an interventional puncture robot. Under the guidance of the real-time image formed by the scanning of the magnetic resonance device, interventional puncture surgery can be performed accurately and efficiently.

[0003] Since the aperture of the magnetic resonance device is small and the length of the aperture is large, and the imaging area with the highest magnetic resonance imaging quality is located at the center of the aperture depth direction, the existing multi-joint puncture robot can only perform surgery on diseases in one part due to the limitation of the aperture. For diseases in different locations, different puncture robots need to be designed for coordinated puncture, and the design cost and equipment cost are both high. Utility Model Content

[0004] The purpose of the embodiments of the utility model is to provide a magnetic resonance interventional puncture device and a magnetic resonance system to solve the technical problem that the puncture robot in the prior art can only be used for puncture of specific parts.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: to provide a magnetic resonance interventional puncture device, including a bed, a mobile module detachably connected to the bed, and a puncture mechanism, the puncture mechanism is connected to the mobile module, and the mobile modules are used to adjust the position of the puncture mechanism. The puncture mechanism includes a frame structure, a posture adjustment mechanism and a puncture end, the frame structure is connected to the mobile module, and the posture adjustment mechanism is slidably connected to the frame structure and is used to adjust the posture of the puncture end.

[0006] In the above scheme, the magnetic resonance interventional puncture device includes a bed, a mobile module and a puncture mechanism, and the mobile module can be installed at different parts of the bed. For example, when it is necessary to puncture the chest and abdomen, the mobile module is installed on the chest and abdomen of the bed, and the puncture mechanism is installed on the mobile module; when it is necessary to puncture the head, the mobile module is installed on the head of the bed, and the puncture mechanism is installed on the mobile module. In this way, the puncture mechanism is suitable for puncture of the head, chest and abdomen, etc., thereby reducing the design cost and the cost of the device. In addition, the mobile module can adjust the position of the puncture mechanism relative to the bed, and the puncture mechanism includes a frame structure, a posture adjustment mechanism and a puncture end, and the posture adjustment mechanism can adjust the posture of the puncture end. By adjusting the position of the puncture mechanism through the mobile module and adjusting the posture of the puncture end through the posture adjustment mechanism, it can be ensured that the puncture end is punctured at a preset position and a preset puncture angle.

[0007] Optionally, the movable module includes a first module detachably connected to the bed, the first module includes a first base and a horizontal movable component slidably connected to the first base, the horizontal movable component is used to adjust the position of the puncture mechanism in the first direction and / or the second direction, the frame structure is slidably connected to the horizontal movable component along a third direction, and the first direction, the second direction and the third direction are arranged vertically in pairs.

[0008] In the above scheme, the position of the puncture mechanism in three directions can be adjusted by setting the first base and the horizontal moving component, that is, the puncture mechanism can be moved to any position within the range, which can basically cover the puncture area corresponding to the thoracic and abdominal cavities.

[0009] Optionally, the horizontal movement assembly includes a horizontal slider and a first frame base, the horizontal slider is slidably connected to the first base along the first direction, the first frame base is slidably connected to the horizontal slider along the second direction, and the frame structure is slidably connected to the first frame base along the third direction.

[0010] In the above scheme, the horizontal slider, the first frame base and the frame structure of the puncture mechanism are connected in sequence, the horizontal slider slides along the first direction relative to the first base, and the left and right position of the puncture mechanism relative to the bed can be adjusted, the first frame base slides along the second direction relative to the horizontal slider, and the up and down position of the puncture mechanism relative to the bed can be adjusted, and the frame structure slides along the third direction relative to the first frame base, and the height position of the puncture mechanism can be adjusted.

[0011] Optionally, a receiving cavity is provided on the first base near the side of the bed body, at least part of the horizontal moving assembly is located in the receiving cavity, and a shielding structure is provided at the opening of the receiving cavity.

[0012] In the above scheme, the shielding structure is used to shield the opening of the accommodating cavity, and can at least shield part of the horizontally movable component to prevent the mechanism inside the accommodating cavity from being exposed. Firstly, it can ensure the aesthetic appearance of the first module, and secondly, it can prevent objects from falling into the accommodating cavity and interfering with the mechanism inside the accommodating cavity.

[0013] Optionally, a baffle for protecting a human body is formed on the surface of the first base, extending in a direction away from the first base, and the baffle can at least shield the horizontal moving assembly and a portion of the frame structure.

[0014] In the above scheme, the structure to be isolated includes at least part of the frame structure and the horizontal moving assembly. The baffle is used to isolate the chest and abdomen of the human body from the structure to be isolated, thereby protecting the chest and abdomen of the human body, limiting the chest and abdomen of the human body, and preventing the human body from touching the above structure to be isolated.

[0015] Optionally, a radio frequency coil is disposed inside the baffle and the first base.

[0016] In the above scheme, radio frequency coils are arranged in the baffle and the first base, which can enhance the signal of the coil. Firstly, it can make the imaging effect of the chest and abdomen better. Secondly, the chest and abdomen can be developed not only from the front but also from the side, reducing the blind area of ​​development.

[0017] Optionally, the mobile module includes a second module detachably connected to the bed body, the second module includes a second base, a second frame base and a third frame base, the second frame base is slidably connected to the second base along a first direction, the third frame base is rotatably connected to the second frame base, the frame structure is used to connect to the third frame base, and the first direction is the width direction of the bed body.

[0018] In the above solution, the second frame base can slide relative to the second base in the first direction, and the movement of the second frame base can adjust the position of the puncture mechanism in the width direction of the bed. The third frame base rotates relative to the second frame base to adjust the placement angle of the puncture mechanism.

[0019] Optionally, the frame structure is arranged in an arc shape, and the central angle corresponding to the frame structure is 45 degrees to 100 degrees.

[0020] In the above scheme, the frame structure is arranged in an arc shape, which is adapted to the shape of the aperture and can fully utilize the internal space of the aperture. After the frame structure enters the aperture, the frame structure will not interfere with the inner wall of the aperture.

[0021] Optionally, the posture adjustment mechanism includes a pitch joint for adjusting the pitch angle of the puncture tip and a rotation joint for rotating the puncture tip.

[0022] In the above scheme, the posture of the puncture end can be adjusted by setting the pitch joint and the rotation joint, so that the puncture end can puncture into the interior of the human body according to a predetermined puncture path.

[0023] Optionally, the magnetic resonance interventional puncture device further includes a plurality of mattress units detachably connected to the bed body.

[0024] In the above scheme, by setting up multiple mattress units, firstly, the human body can be made more comfortable when lying down, and secondly, mattresses of different shapes can be spliced ​​according to the puncture site, which is suitable for different puncture operations.

[0025] The utility model also provides a magnetic resonance system, comprising magnetic resonance equipment and the magnetic resonance intervention puncture device.

[0026] In the above scheme, when it is necessary to puncture the chest and abdomen, the first module is installed on the chest and abdomen of the bed, and the puncture mechanism is installed on the first module; when it is necessary to puncture the head, the second module is installed on the head of the bed, and the puncture mechanism is installed on the second module. In this way, the puncture mechanism is suitable for both head puncture and chest and abdomen puncture, thereby reducing the design cost and the instrument cost. In addition, the first module and the second module can adjust the position of the puncture mechanism relative to the bed, and the puncture mechanism includes a frame structure, a posture adjustment mechanism and a puncture end, and the posture adjustment mechanism can adjust the posture of the puncture end. By adjusting the position of the puncture mechanism through the first module and the second module, and adjusting the posture of the puncture end through the posture adjustment mechanism, it can be ensured that the puncture end is punctured at a preset position and a preset puncture angle.

[0027] Optionally, the magnetic resonance device includes a magnetic resonance body and a scanning bed arranged on the magnetic resonance body, and the bed is detachably connected to the magnetic resonance body.

[0028] In the above scheme, when a puncture operation is required, the scanning bed can be detached from the MRI body, and then the bed can be installed on the MRI body to perform the puncture operation. First, the human body can lie directly on the bed of the MRI interventional puncture device, so that part of the preparation or follow-up work of the operation can be conveniently completed outside the MRI room without moving the patient between the scanning bed and the bed, and at the same time, the utilization efficiency of the scanning room can be improved; second, the patient coordinate system and the bed coordinate system overlap, reducing an assembly process and avoiding a layer of error sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A three-dimensional structural diagram of the magnetic resonance interventional puncture device provided by an embodiment of the utility model in a first state;

[0031] Figure 2 A three-dimensional structural diagram of the magnetic resonance interventional puncture device provided by an embodiment of the utility model in a second state;

[0032] Figure 3 A side view of the magnetic resonance interventional puncture device provided by an embodiment of the utility model in a second state;

[0033] Figure 4 A side view of the first module and the puncture mechanism provided in the embodiment of the utility model;

[0034] Figure 5 The three-dimensional structure of the first module and the puncture mechanism provided in the embodiment of the utility model Figure 1 ;

[0035] Figure 6 The three-dimensional structure of the first module and the puncture mechanism provided in the embodiment of the utility model Figure 2 (RF coil exposed);

[0036] Figure 7 The three-dimensional structure of the second module and the puncture mechanism provided in the embodiment of the utility model Figure 1 ;

[0037] Figure 8 A side view of the second module and the puncture mechanism provided in the embodiment of the utility model;

[0038] Fig. 9 A side view of the magnetic resonance system provided by the embodiment of the utility model before the bed is installed;

[0039] Fig.10 A top view of the magnetic resonance system provided by the embodiment of the utility model before the bed is installed;

[0040] Fig.11 A three-dimensional structural diagram of the magnetic resonance system provided by an embodiment of the utility model before the bed is installed;

[0041] Fig.12 A three-dimensional structural diagram of the magnetic resonance system provided by an embodiment of the utility model after the bed is installed;

[0042] Fig.13 This is a front view of the magnetic resonance system provided by an embodiment of the utility model after the bed is installed.

[0043] Among them, the reference numerals in the figure are:

[0044] 100-Magnetic resonance interventional puncture device;

[0045] 1-bed; 11-scanning coil interface; 12-first working status indicator light; 13-emergency stop button; 2-mattress unit; 3-first module; 31-first base; 32-horizontal moving assembly; 321-horizontal slider; 3211-second slide; 322-first frame base; 33-shielding structure; 34-baffle; 35-RF coil; 4-second module; 41-second base; 411-fourth slide; 42-second frame base; 43-third frame base; 44-fixed head frame; 45-headrest; 5-puncture mechanism; 51-frame structure; 511-second working status indicator light; 512-third slide; 52-posture adjustment mechanism; 53-puncture end;

[0046] 200- MRI equipment; 201- MRI body; 202- scanning bed; 300- transfer cart. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] Magnetic resonance equipment consists of magnets and magnet power supplies that generate magnetic fields, gradient field coils and gradient field power supplies, radio frequency transmitters / receivers, system control and data processing computers, imaging operation and image analysis workbenches, and mobile examination beds. Magnetic resonance equipment uses the characteristics of atomic nucleus spin motion to generate signals in an external magnetic field after being excited by radio frequency pulses. The signals are detected by detectors and input into computers. After processing and conversion, the medical images are displayed on the screen, which can be used to diagnose tumors, inflammation, vascular lesions, infections, and other lesions.

[0052] The inside of the magnetic resonance device has an aperture. After the patient lies on the operating table, he or she can be pushed into the inside of the aperture. After the magnetic resonance device scans the human body, it can be converted into a scanned image and displayed on the display device. Therefore, the magnetic resonance device can be used in conjunction with an interventional puncture robot. Under the guidance of the real-time image formed by the scanning of the magnetic resonance device, interventional puncture surgery can be performed accurately and efficiently.

[0053] Since the aperture of the magnetic resonance device is small and the length of the aperture is large, and the imaging area with the highest quality of magnetic resonance imaging is located at the center of the aperture depth direction, the existing puncture robot with multiple joints can only perform surgery on the disease in one part due to the limitation of the aperture. For diseases in different locations, different puncture robots need to be designed for coordinated puncture, and the design cost and equipment cost are both high. In order to overcome the above technical problems, the utility model provides a new magnetic resonance interventional puncture device and a magnetic resonance system.

[0054] The magnetic resonance interventional puncture device provided in the embodiment of the utility model is now described.

[0055] Please also read Figure 1 and Figure 2 The magnetic resonance interventional puncture device 100 includes a bed 1, a moving module and a puncture mechanism 5. The moving module is detachably connected to the bed 1, and the puncture mechanism 5 is connected to the moving module.

[0056] The bed 1 is for a human body to lie on. Specifically, during a puncture operation, the human body lies on the bed 1. When the human body lies on the bed 1, the area of ​​the bed 1 corresponding to the head of the human body is the head of the bed 1, and the area of ​​the bed 1 corresponding to the chest and abdomen of the human body is the chest and abdomen of the bed 1. The shape and outline of the bed 1 are generally similar to those of an ordinary bed.

[0057] See also Figure 5 The puncture mechanism 5 includes a frame structure 51, a posture adjustment mechanism 52 and a puncture terminal 53. When the puncture mechanism 5 is installed on the mobile module, the frame structure 51 is connected to the mobile module. The posture adjustment mechanism 52 is slidably connected to the frame structure 51. When the posture adjustment mechanism 52 slides relative to the frame structure 51, the position of the puncture terminal 53 relative to the frame structure 51 can be adjusted so that the puncture terminal 53 is close to the part to be punctured. At the same time, the posture adjustment mechanism 52 is used to adjust the posture of the puncture terminal 53, that is, to adjust the puncture angle of the puncture terminal 53. One end of the puncture terminal 53 has a puncture degree of freedom, and the puncture action can be performed after its position and posture are determined.

[0058] The magnetic resonance interventional puncture device 100 in the above embodiment includes a bed 1, a mobile module and a puncture mechanism 5, and the mobile module can be installed at different parts of the bed 1. For example, when it is necessary to puncture the chest and abdomen, the mobile module is installed at the chest and abdomen of the bed 1, and the puncture mechanism 5 is installed on the mobile module; when it is necessary to puncture the head, the mobile module is installed at the head of the bed 1, and the puncture mechanism 5 is installed on the mobile module. In this way, the puncture mechanism 5 is suitable for puncture of the head, chest and abdomen, etc., so that the design cost and the device cost can be reduced. In addition, the mobile module can adjust the position of the puncture mechanism 5 relative to the bed 1. The puncture mechanism 5 includes a frame structure 51, a posture adjustment mechanism 52 and a puncture end 53, and the posture adjustment mechanism 52 can adjust the posture of the puncture end 53. By adjusting the position of the puncture mechanism 5 by the mobile module and adjusting the posture of the puncture end 53 by the posture adjustment mechanism 52, it can be ensured that the puncture end 53 is punctured at a preset position and a preset puncture angle.

[0059] In some embodiments of the present invention, please refer to Figures 4 to 6 The mobile module includes a first module 3, which can be detachably connected to the chest and abdomen of the bed 1, that is, the first module 3 can be installed on the bed 1 or removed from the bed 1 according to the puncture requirements. When the first module 3 is installed on the chest and abdomen of the bed 1 and the puncture mechanism 5 is installed on the first module 3, the position of the puncture mechanism 5 can be adjusted by the first module 3 so that the puncture mechanism 5 is directly facing the puncture site.

[0060] Specifically, when puncture of the chest and abdomen is required, the first module 3 is installed on the chest and abdomen of the bed 1, and then the puncture mechanism 5 is installed on the first module 3. The position of the puncture mechanism 5 is adjusted by the first module 3, and the position of the posture adjustment mechanism 52 and the puncture end 53 relative to the frame structure 51 is adjusted. Finally, the puncture angle of the puncture end 53 is adjusted by the posture adjustment mechanism 52. After the position and puncture angle of the puncture end 53 are adjusted, the puncture end 53 performs puncture.

[0061] The first module 3 includes a first base 31 and a horizontal moving assembly 32, and the first base 31, the horizontal moving assembly 32 and the puncture mechanism 5 can be connected in sequence. The horizontal moving assembly 32 is slidably connected to the first base 31, and the puncture mechanism 5 is slidably connected to the horizontal moving assembly 32. Specifically, the horizontal moving assembly 32 is used to adjust the position of the puncture mechanism 5 in the first direction and / or the second direction, and the frame structure 51 is slidably connected to the horizontal moving assembly 32 along the third direction, and the position of the puncture mechanism 5 in the third direction can be adjusted. The first direction, the second direction and the third direction are arranged vertically in pairs. Therefore, in this embodiment, the position of the puncture mechanism 5 in three directions can be adjusted by setting the first base 31 and the horizontal moving assembly 32, that is, the puncture mechanism 5 can be moved to any position within the range, which can basically cover the puncture area corresponding to the thoracic and abdominal cavities.

[0062] In some embodiments, the first module 3 can be installed toward the left side of the chest and abdomen of the bed 1 (the puncture mechanism 5 is set on the left side), and the first module 3 can also be installed toward the right side of the chest and abdomen of the bed 1 (the puncture mechanism 5 is set on the right side). The installation direction of the first module 3 can be selected according to the patient's lesion site.

[0063] In some embodiments, the third direction is the Z direction, and the puncture mechanism 5 can slide in the Z direction relative to the horizontal moving component 32 to adjust the height position of the puncture mechanism 5. The first direction is the X direction, and the second direction is the Y direction. Both the first direction and the second direction are horizontal directions. In terms of the width and length of the bed 1, the first direction is parallel to the width direction of the bed 1, and the second direction is parallel to the length direction of the bed 1.

[0064] In some embodiments, the first direction, the second direction and the third direction are not parallel to each other, and the first direction and the second direction are not perpendicular to each other, the first direction and the third direction are not perpendicular to each other, and the second direction and the third direction are not perpendicular to each other.

[0065] In some embodiments of the present invention, please refer to Figure 5 and Figure 6, a receiving cavity is provided at the side of the first base 31 near the bed 1, at least part of the horizontal moving assembly 32 is located in the receiving cavity, and a shielding structure 33 is provided at the opening of the receiving cavity. Specifically, the two ends of the bed 1 in the length direction can be referred to as the ends of the bed 1, and the two sides of the bed 1 in the width direction can be referred to as the sides of the bed 1. The receiving cavity is provided at the side of the first base 31 near the bed 1, so that the horizontal moving assembly 32 can be close to the side of the bed 1. When the puncture mechanism 5 is installed on the horizontal moving assembly 32, the puncture mechanism 5 is also close to the side of the bed 1, which is convenient for the puncture mechanism 5 to puncture the chest and abdomen of the human body, and at the same time does not occupy the space where the human body lies. A shielding structure 33 is provided at the opening of the receiving cavity. The shielding structure 33 is used to shield the opening of the receiving cavity, and at least can shield part of the horizontal moving assembly 32 to avoid the exposure of the mechanism inside the receiving cavity. First, it can ensure the aesthetic appearance of the first module 3, and second, it can prevent objects and the patient's arms from falling into the interior of the receiving cavity and interfering with the mechanism inside the receiving cavity.

[0066] In some embodiments, a driving mechanism is also provided inside the accommodating cavity, and the driving mechanism includes a first driving member for driving the horizontal moving assembly 32 to move the puncture mechanism 5 in a first direction, a second driving member for driving the horizontal moving assembly 32 to move the puncture mechanism 5 in a second direction, and a third driving member for driving the puncture mechanism 5 to move in a third direction.

[0067] In some embodiments, the position of the puncture mechanism 5 in the first direction, the second direction, and the third direction is adjusted manually.

[0068] In some embodiments, the shielding structure 33 is detachably connected to the opening of the accommodating cavity, and when the mechanism inside the accommodating cavity needs to be inspected or repaired, the shielding structure 33 can be removed from the opening of the accommodating cavity. Optionally, the shielding structure 33 includes a shielding curtain, which can be partially opened to expose part of the opening, or fully opened to expose the entire opening.

[0069] In some embodiments of the present invention, please refer to Figures 4 to 6The horizontal moving assembly 32 includes a horizontal slider 321 and a first frame base 322. The horizontal slider 321 is connected to the first base 31 by sliding along the first direction. The first frame base 322 is connected to the horizontal slider 321 by sliding along the second direction. The frame structure 51 is connected to the first frame base 322 by sliding along the third direction. The horizontal slider 321, the first frame base 322 and the frame structure 51 of the puncture mechanism 5 are connected in sequence. The horizontal slider 321 slides along the first direction relative to the first base 31 to adjust the left and right position of the puncture mechanism 5 relative to the bed 1. The first frame base 322 slides along the second direction relative to the horizontal slider 321 to adjust the front and rear position of the puncture mechanism 5 relative to the bed 1. The frame structure 51 slides along the third direction relative to the first frame base 322 to adjust the height position of the puncture mechanism 5.

[0070] In some embodiments, the bottom of the horizontal sliding block 321 extends into the interior of the accommodating cavity and is slidably connected to the first base 31 .

[0071] In some embodiments, a first slide rail having a length parallel to the first direction is provided at the bottom of the horizontal slider 321, and a first slide groove is provided on the first base 31. The first slide rail and the first slide groove cooperate with each other to enable the horizontal slider 321 to slide along the first direction and be connected to the first base 31.

[0072] In some embodiments, see Figure 5 The horizontal slider 321 is provided with a second slide groove 3211 having a length parallel to the second direction, the first frame base 322 is provided with a second slide rail, and the second slide groove 3211 is slidably connected to the second slide rail. Optionally, the horizontal slider 321 is in a long strip shape, and the length direction of the horizontal slider 321 is parallel to the second direction, so that the volume of the horizontal slider 321 can be reduced.

[0073] In some embodiments, a third slide groove 512 is opened on the side wall of the frame structure 51, and a third slide rail is arranged on the first frame base 322. The length directions of the third slide groove 512 and the third slide rail are both in the third direction. Through the cooperation of the third slide groove 512 and the third slide rail, the frame structure 51 can slide relative to the first frame base 322 in the third direction.

[0074] In some embodiments, see Figure 5, the first frame base 322 has a U-shaped groove, one end of the frame structure 51 extends into both sides of the U-shaped groove, and the two sides of the frame structure 51 are respectively connected by sliding with the groove walls on both sides of the U-shaped groove. For example, the third slide groove 512 is provided on both sides of the frame structure 51, and the groove walls on both sides of the U-shaped groove are provided with third slide rails. In this way, the frame structure 51 and the first frame base 322 have at least two connection parts, and the sliding of the puncture mechanism 5 relative to the first frame base 322 is more stable. At the same time, when the frame structure 51 slides to the bottom of the U-shaped groove of the first frame base 322, the bottom of the frame structure 51 abuts against the bottom of the U-shaped groove of the first frame base 322, and the frame structure 51 can be limited.

[0075] In some embodiments of the utility model, the horizontal moving assembly 32 includes a horizontal slider 321 and a first frame base 322, the horizontal slider 321 is slidably connected to the first base 31 along the second direction, the first frame base 322 is slidably connected to the horizontal slider 321 along the first direction, and the frame structure 51 is slidably connected to the first frame base 322 along the third direction. The horizontal slider 321, the first frame base 322 and the frame structure 51 of the puncture mechanism 5 are connected in sequence, the horizontal slider 321 slides in the second direction relative to the first base 31, and the front and rear position of the puncture mechanism 5 relative to the bed 1 can be adjusted, the first frame base 322 slides in the first direction relative to the horizontal slider 321, and the left and right position of the puncture mechanism 5 relative to the bed 1 can be adjusted, and the frame structure 51 slides in the third direction relative to the first frame base 322, and the height position of the puncture mechanism 5 can be adjusted.

[0076] In some embodiments of the present invention, please refer to Figures 4 to 6 The surface of the first base 31 extends in a direction away from the first base 31 to form a baffle 34 for protecting the human body, and the baffle 34 can at least shield the horizontal moving assembly 32 and part of the frame structure 51. The connection between the horizontal moving assembly 32 and the puncture mechanism 5 and the nearby structure can be called the structure to be isolated. Specifically, the structure to be isolated includes at least part of the frame structure 51 and the horizontal moving assembly 32. The baffle 34 is used to isolate the chest and abdomen of the human body from the structure to be isolated, so as to protect the chest and abdomen of the human body, limit the chest and abdomen of the human body, and prevent the human body from touching the above-mentioned structure to be isolated.

[0077] In some embodiments, the baffle 34 is arranged in an arc shape, which makes the human body more comfortable when in contact with the baffle 34. Moreover, the arc shape of the baffle 34 can make full use of the space inside the frame structure 51, thereby increasing the lying space on the side of the bed 1, making the human body more comfortable when lying.

[0078] In some embodiments of the present invention, please refer to Figure 6, the baffle 34 and the first base 31 are both provided with a radio frequency coil 35. The magnetic resonance device 200 sends out a signal, and the radio frequency coil 35 receives the sent signal, so that the chest and abdomen can be imaged, and the image formed can assist in locating the puncture position. The radio frequency coil 35 is provided in the baffle 34 and the first base 31, which can enhance the signal of the coil. First, the imaging effect of the chest and abdomen can be better, and second, the chest and abdomen can be developed not only from the front, but also from the side, reducing the blind area of ​​the development.

[0079] In some embodiments of the present invention, please refer to Figure 7 and Figure 8 The mobile module includes a second module 4, which can be detachably connected to the head of the bed 1, that is, the second module 4 can be installed on the bed 1 or removed from the bed 1 according to the puncture requirements. When the second module 4 is installed on the head of the bed 1 and the puncture mechanism 5 is installed on the second module 4, the position of the puncture mechanism 5 can be adjusted by the second module 4 so that the puncture mechanism 5 is directly facing the puncture site.

[0080] When puncture of the head is required, the second module 4 is installed on the chest and abdomen of the bed 1, and then the puncture mechanism 5 is installed on the second module 4. The position of the puncture mechanism 5 is adjusted by the second module 4, and the position of the posture adjustment mechanism 52 and the puncture end 53 relative to the frame structure 51 is adjusted. Finally, the puncture angle of the puncture end 53 is adjusted by the posture adjustment mechanism 52. After the position and puncture angle of the puncture end 53 are adjusted, the puncture end 53 performs puncture.

[0081] The second module 4 includes a second base 41, a second frame base 42 and a third frame base 43. The second frame base 42 is connected to the second base 41 by sliding along a first direction, and the third frame base 43 is connected to the second frame base 42 by rotation. The frame structure 51 is used to be connected to the third frame base 43. The first direction is the width direction of the bed 1, that is, the first direction is the X direction. The second frame base 42 can slide along the first direction relative to the second base 41, and the movement of the second frame base 42 can adjust the position of the puncture mechanism 5 in the width direction of the bed 1. The third frame base 43 rotates relative to the second frame base 42 to adjust the placement angle of the puncture mechanism 5.

[0082] In some embodiments, a fourth slide groove 411 is provided on the second base 41, and the length direction of the fourth slide groove 411 is parallel to the first direction. A fourth slide rail is provided at the bottom of the second frame base 42, and the second frame base 42 is slidably connected to the second base 41 in the first direction through the sliding cooperation between the fourth slide rail and the fourth slide groove 411.

[0083] In some embodiments, the rotation axis of the third frame base 43 relative to the second frame base 42 is parallel to the second direction, so that the placement angle of the puncture mechanism 5 can be changed when the third frame base 43 rotates.

[0084] In some embodiments, the second module 4 further includes a rotation shaft connecting the second frame base 42 and the third frame base 43, so that the third frame base 43 can rotate relative to the second frame base 42. The mechanism driving the third frame base 43 to rotate can be disposed inside the second base 41.

[0085] In some embodiments, the frame structure 51 is fixedly connected to the third frame base 43, so that the structure of the second module 4 is simpler, and the insertion of the needle at the puncture end 53 can compensate for the disadvantage that the frame structure 51 cannot move relative to the third frame base 43.

[0086] In some embodiments, the frame structure 51 is slidably connected to the third frame base 43. A third slide groove 512 is provided on the side wall of the frame structure 51, and a fifth slide rail is provided on the third frame base 43. The frame structure 51 is slidably connected to the third frame base 43 through the sliding cooperation between the third slide groove 512 and the fifth slide rail.

[0087] In some embodiments, the second frame base 42 is a square frame structure, and the sides of the square frame structure can be straight or curved. When the sides of the square frame are curved, its strength can be enhanced. For example, the upper and lower sides of the square frame structure are straight, and the left and right sides are curved.

[0088] In some embodiments, the third frame base 43 is a square frame structure, and the side of the square frame structure can be straight or curved. When the side of the square frame is curved, its strength can be enhanced. For example, the upper side of the square frame structure is straight, and the lower side of the square frame structure is curved to form a recess for installing the frame structure 51, and the left and right sides of the square frame structure are curved.

[0089] In some embodiments of the present invention, please refer to Figure 7 and Figure 8 The second module 4 also includes a fixed head frame 44, which is fixedly arranged on the second base 41. The fixed head frame 44 is used to fix the head to prevent the head from shaking during puncture.

[0090] In some embodiments of the present invention, please refer to Figure 7 and Figure 8 The second module 4 also includes a headrest 45, which is detachably connected to the second base 41, that is, the headrest 45 can be removed for cleaning and replacement, which is convenient for cleaning, disinfection, sterilization and the like.

[0091] In some embodiments of the present invention, please refer to Figure 4 , the frame structure 51 is arranged in an arc shape, and the central angle of the frame structure 51 is 45 to 100 degrees. The frame structure 51 is arranged in an arc shape, which is adapted to the shape of the aperture, and can make full use of the internal space of the aperture. After the frame structure 51 enters the aperture, the frame structure 51 will not interfere with the inner wall of the aperture. The central angle of the frame structure 51 is 45 to 100 degrees, so that the frame structure 51 is semi-C-shaped, and when puncturing the chest and abdomen, it can completely cover the puncture area of ​​the left half or the right half of the chest and abdomen, and when puncturing the head, it can cover the puncture area of ​​the skull.

[0092] In some embodiments, the central angle corresponding to the frame structure 51 is 45 degrees, 60 degrees, 70 degrees, 80 degrees, 90 degrees, etc., and the corresponding central angle can be selected according to the applicable scenario of the frame structure 51.

[0093] In some embodiments, the frame structure 51 is provided with an arc-shaped slide rail that matches its shape, and the posture adjustment joint slides on the arc-shaped slide rail, so that the position of the puncture end 53 can be adjusted.

[0094] In some embodiments of the present invention, please refer to Figure 5 and Figure 6 The posture adjustment mechanism 52 includes a pitch joint and a rotation joint. The pitch joint is used to adjust the pitch angle of the puncture terminal 53, and the rotation joint is used to rotate the puncture terminal 53 to adjust the direction of the puncture terminal 53. By setting the pitch joint and the rotation joint, the posture of the puncture terminal 53 can be adjusted so that the puncture terminal 53 punctures into the human body according to a predetermined puncture path.

[0095] In some embodiments, the posture adjustment mechanism 52 includes a posture adjustment housing, and the pitch joint and the rotation joint are both arranged inside the posture adjustment housing. Optionally, the pitch joint, the rotation joint and the puncture terminal 53 are connected in sequence, the motion end of the pitch joint is connected to the rotation joint, and the motion end of the rotation joint is connected to the puncture terminal 53. When adjusting the pitch angle of the puncture terminal 53, the pitch joint works to drive the rotation joint and the puncture terminal 53 to pitch; when adjusting the puncture direction of the puncture terminal 53, the rotation joint works to drive the puncture terminal 53 to rotate so that the needle tip of the puncture terminal 53 faces a predetermined direction.

[0096] In some embodiments, when the rotary joint drives the puncture tip 53 to rotate, the rotation axis of the puncture tip 53 is disposed through the puncture tip 53, so that the puncture tip 53 can rotate by itself.

[0097] In some embodiments, the puncture end 53 has both the needle insertion function and the laser indication puncture point function, and has an array of imaging beads for alignment integrated therein.

[0098] In some embodiments of the present invention, please refer to Figure 1 and Figure 2 , the magnetic resonance interventional puncture device 100 also includes a plurality of mattress units 2 detachably connected to the bed body 1, and the plurality of mattress units 2 are laid at different positions of the bed body 1. Through the arrangement of the plurality of mattress units 2, firstly, the human body can be made more comfortable when lying down, and secondly, the mattresses of different shapes can be spliced ​​according to the puncture site, which are suitable for different puncture operations. The first module 3 and the second module 4 can both be regarded as mattress units 2, and it can be understood that the first module 3 and the second module 4 are equivalent to the mattress unit 2 installed on the bed body 1. When performing chest and abdominal puncture, the plurality of mattress units 2 can be spliced ​​into a first mattress, the first mattress is hollowed out at the chest and abdomen, and the first module 3 is installed at the chest and abdomen to avoid the interference between the first module 3 and the mattress unit 2, and can form a complete mattress for lying down. When performing head puncture, the plurality of mattress units 2 can be spliced ​​into a second mattress, the second mattress is hollowed out at the head, and the second module 4 is installed at the head to avoid the interference between the second module 4 and the mattress unit 2.

[0099] In some embodiments of the utility model, the magnetic resonance interventional puncture device 100 further includes a first mattress and a second mattress, both of which are detachably connected to the bed body 1, the first bed body 1 is hollowed out at the chest and abdomen so that the first module 3 can be installed at the chest and abdomen, and the second bed body 1 is hollowed out at the head so that the second module 4 can be installed at the head. When performing chest and abdomen puncture, the first mattress is used, and the first module 3 is installed at the chest and abdomen; when performing head puncture, the second mattress is used, and the second module 4 is installed at the head.

[0100] In some embodiments of the present invention, please refer to Figure 1 and Figure 2 The bed body 1 is provided with a scanning coil interface 11 for connecting a scanning coil, and an external scanning coil can be connected through the scanning coil interface 11, and the scanning coil can improve the image quality. The number and distribution of the scanning coil interface 11 are not limited here.

[0101] In some embodiments, the number of scanning coil interfaces 11 is 8, and two scanning coil interfaces 11 are provided at the four corners of the bed 1. In other embodiments, the number of scanning coil structures may be 4, 6, 10, etc., and the plurality of scanning coil structures are distributed at the edge of the bed 1.

[0102] In some embodiments of the present invention, please refer to Figure 1 and Figure 2The bed 1 is provided with a first working state indicator light 12, which is used to display the working state of the magnetic resonance interventional puncture device 100. Specifically, it can be used to display whether the bed 1 is working normally, or it can be used to display whether the first module 3, the second module 4, the puncture mechanism 5, etc. are working normally, and it can be used to simultaneously display whether the bed 1, the first module 3, the second module 4, and the puncture mechanism 5 are working normally. The first working state indicator light 12 can be an LED light, and whether the interventional puncture robot is working normally can be judged by turning on and off the first working state indicator light 12, and whether the magnetic resonance interventional puncture device 100 is working normally can also be judged by the color of the first working state indicator light 12. The number and distribution of the first working state indicator light 12 are not limited here. The first working state indicator light 12 can be one or more. When the number is more than one, the multiple first working state indicator lights 12 can be arranged around the bed 1, or can be arranged at each corner of the bed 1.

[0103] exist Figure 1 In the embodiment, the number of the first working status indicator lights 12 is four, which are distributed at the four corners of the bed 1, so that the operating staff can see the first working status indicator lights 12 no matter where they are on the bed 1.

[0104] In some embodiments of the present invention, please refer to Figure 7 and Figure 8 , both sides of the frame structure 51 are provided with a second working state indicator light 511, and the second working state indicator light 511 is used to display whether the magnetic resonance interventional puncture device 100 is working normally. The operator can observe the second working state indicator light 511 from both sides of the frame structure 51. Specifically, it can be used to display whether the bed 1 is working normally, whether the first module 3, the second module 4 and the puncture mechanism 5 are working normally, and whether the bed 1, the first module 3, the second module 4 and the puncture mechanism 5 are working normally at the same time. The second working state indicator light 511 can be an LED light, and whether the magnetic resonance interventional puncture device 100 is working normally can be judged by the lighting and extinguishing of the second working state indicator light 511, and whether the magnetic resonance interventional puncture device 100 is working normally can also be judged by the color of the second working state indicator light 511.

[0105] In some embodiments of the present invention, please refer to Figure 1 and Figure 2 Emergency stop buttons 13 are provided at both ends of the bed 1, and the emergency stop buttons 13 are used to stop the movement of the interventional puncture robot. Specifically, emergency stop buttons 13 are provided at both ends of the head and tail of the bed 1, so that the operator can perform emergency braking on the interventional puncture robot at both the head and tail of the bed 1.

[0106] The utility model also provides a magnetic resonance system, see Figures 9 to 13 , including the magnetic resonance interventional puncture device 100 in any of the above embodiments, and also including a magnetic resonance device 200, the bed body 1 of the magnetic resonance interventional puncture device 100 is installed on the installation structure of the scanning bed 202 of the magnetic resonance device 200.

[0107] The magnetic resonance system provided by the utility model adopts the magnetic resonance interventional puncture device 100 in any of the above embodiments. The magnetic resonance interventional puncture device 100 includes a bed 1, a first module 3, a second module 4 and a puncture mechanism 5. The first module 3 is used to be installed on the chest and abdomen of the bed 1, and the second module 4 is used to be installed on the head of the bed 1. When the chest and abdomen need to be punctured, the first module 3 is installed on the chest and abdomen of the bed 1, and the puncture mechanism 5 is installed on the first module 3; when the head needs to be punctured, the second module 4 is installed on the head of the bed 1, and the puncture mechanism 5 is installed on the second module 4. In this way, the puncture mechanism 5 is suitable for both head puncture and chest and abdomen puncture, thereby reducing the design cost and the equipment cost. In addition, the first module 3 and the second module 4 can adjust the position of the puncture mechanism 5 relative to the bed 1. The puncture mechanism 5 includes a frame structure 51, a posture adjustment mechanism 52 and a puncture end 53, and the posture adjustment mechanism 52 can adjust the posture of the puncture end 53. By adjusting the position of the puncture mechanism 5 through the first module 3 and the second module 4 and adjusting the posture of the puncture end 53 through the posture adjustment mechanism 52, it can be ensured that the puncture end 53 performs puncture at a preset position and a preset puncture angle.

[0108] In some embodiments of the present invention, please refer to Figures 9 to 13 The magnetic resonance device 200 includes a magnetic resonance body 201 and a scanning bed 202 arranged on the magnetic resonance body 201, and the bed body 1 is detachably connected to the magnetic resonance body 201. When a puncture operation is required, the scanning bed 202 can be detached from the magnetic resonance body 201, and then the bed body 1 is installed on the magnetic resonance body 201 to perform the puncture operation. First, the human body can lie directly on the bed body 1 of the magnetic resonance interventional puncture device 100, so that part of the preparation or follow-up work of the operation can be conveniently completed outside the magnetic resonance room without moving the patient between the scanning bed 202 and the bed body 1, and at the same time, the utilization efficiency of the scanning room can be improved; second, the patient coordinate system and the coordinate system of the bed body 1 are overlapped, which reduces an assembly process and avoids a layer of error sources.

[0109] See also Figures 9 to 11When a puncture operation is required, the bed 1 needs to be installed on the magnetic resonance main body 201. The bed 1 is first placed on the transfer cart 300. The transfer cart 300 transports the magnetic resonance interventional puncture device 100 to a position close to the magnetic resonance device 200. Then, the scanning bed 202 of the magnetic resonance device 200 is lowered and pushed out to the transfer cart 300. Then, the bed 1 is pushed into the position of the magnetic resonance main body 201 for installing the scanning bed 202, forming a Fig.12 and Fig.13 status.

[0110] The transfer cart 300 has an upper structure and a lower structure. The upper structure is used to place the bed 1 , and the lower structure is used to place the scanning bed 202 .

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetic resonance interventional puncture device, characterized in that: The invention comprises a bed (1), a mobile module detachably connected to the bed (1), and a puncture mechanism (5), wherein the puncture mechanism (5) is connected to the mobile module, and the mobile module is used to adjust the position of the puncture mechanism (5). The puncture mechanism (5) comprises a frame structure (51), a posture adjustment mechanism (52) and a puncture end (53), wherein the frame structure (51) is connected to the mobile module, and the posture adjustment mechanism (52) is slidably connected to the frame structure (51) and is used to adjust the posture of the puncture end (53).

2. The magnetic resonance interventional puncture device according to claim 1, characterized in that: The movable module comprises a first module (3) detachably connected to the bed (1), the first module (3) comprising a first base (31) and a horizontal movable assembly (32) slidably connected to the first base (31), the horizontal movable assembly (32) being used to adjust the position of the puncture mechanism (5) in a first direction and / or a second direction, the frame structure (51) being slidably connected to the horizontal movable assembly (32) along a third direction, and the first direction, the second direction and the third direction are arranged vertically in pairs.

3. The magnetic resonance interventional puncture device according to claim 2, characterized in that: The horizontal moving assembly (32) comprises a horizontal slider (321) and a first frame base (322); the horizontal slider (321) is slidably connected to the first base (31) along the first direction; the first frame base (322) is slidably connected to the horizontal slider (321) along the second direction; and the frame structure (51) is slidably connected to the first frame base (322) along the third direction.

4. The magnetic resonance interventional puncture device according to claim 2, characterized in that: The first base (31) is provided with a receiving cavity near the side of the bed body (1), at least part of the horizontal moving assembly (32) is located in the receiving cavity, and a shielding structure (33) is provided at the opening of the receiving cavity.

5. The magnetic resonance interventional puncture device according to claim 2, characterized in that: A baffle (34) for protecting a human body is formed on the surface of the first base (31) and extends in a direction away from the first base (31); the baffle (34) can at least shield the horizontal moving assembly (32) and a portion of the frame structure (51).

6. The magnetic resonance interventional puncture device according to claim 5, characterized in that: A radio frequency coil (35) is disposed inside the baffle (34) and the first base (31).

7. The magnetic resonance interventional puncture device according to any one of claims 1 to 6, characterized in that: The mobile module comprises a second module (4) detachably connected to the bed body (1); the second module (4) comprises a second base (41), a second frame base (42) and a third frame base (43); the second frame base (42) is slidably connected to the second base (41) along a first direction; the third frame base (43) is rotatably connected to the second frame base (42); the frame structure (51) is used to be connected to the third frame base (43); and the first direction is the width direction of the bed body (1).

8. The magnetic resonance interventional puncture device according to any one of claims 1 to 6, characterized in that: The frame structure (51) is arranged in an arc shape, and the central angle corresponding to the frame structure (51) is 45 degrees to 100 degrees.

9. The magnetic resonance interventional puncture device according to any one of claims 1 to 6, characterized in that: The posture adjustment mechanism (52) comprises a pitch joint for adjusting the pitch angle of the puncture end (53) and a rotation joint for rotating the puncture end (53).

10. The magnetic resonance interventional puncture device according to any one of claims 1 to 6, characterized in that: The magnetic resonance interventional puncture device further comprises a plurality of mattress units (2) detachably connected to the bed body (1).

11. A magnetic resonance system, characterized in that: It comprises a magnetic resonance device (200) and a magnetic resonance interventional puncture apparatus (100) as claimed in any one of claims 1 to 10.

12. The magnetic resonance system according to claim 11, characterized in that: The magnetic resonance device (200) comprises a magnetic resonance body (201) and a scanning bed (202) arranged on the magnetic resonance body (201); the bed (1) is detachably connected to the magnetic resonance body (201).

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